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mavlink: support receiving multi-chunk statustexts
This adds support for mavlink statustext messages arriving in multiple chunks.
This commit is contained in:
Julian Oes
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "MavlinkStatustextHandler.hpp"
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#include <gtest/gtest.h>
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static constexpr uint64_t some_time = 12345678;
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static constexpr uint64_t some_other_time = 99999999;
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static constexpr auto some_text = "Some short text";
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static constexpr auto some_other_text = "Some more short text";
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static constexpr uint8_t some_severity = MAV_SEVERITY_CRITICAL;
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static constexpr uint8_t some_other_severity = MAV_SEVERITY_INFO;
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TEST(MavlinkStatustextHandler, Singles)
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{
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MavlinkStatustextHandler handler;
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mavlink_statustext_t statustext1 {};
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statustext1.severity = some_severity;
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strncpy(statustext1.text, some_text, sizeof(statustext1.text));
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EXPECT_FALSE(handler.should_publish_previous(statustext1));
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EXPECT_TRUE(handler.should_publish_current(statustext1, some_time));
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EXPECT_STREQ(handler.log_message().text, some_text);
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EXPECT_EQ(handler.log_message().severity, some_severity);
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EXPECT_EQ(handler.log_message().timestamp, some_time);
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mavlink_statustext_t statustext2 {};
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statustext2.severity = some_other_severity;
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strncpy(statustext2.text, some_other_text, sizeof(statustext2.text));
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EXPECT_FALSE(handler.should_publish_previous(statustext2));
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EXPECT_TRUE(handler.should_publish_current(statustext2, some_other_time));
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EXPECT_STREQ(handler.log_message().text, some_other_text);
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EXPECT_EQ(handler.log_message().severity, some_other_severity);
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EXPECT_EQ(handler.log_message().timestamp, some_other_time);
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}
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TEST(MavlinkStatustextHandler, Multiple)
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{
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MavlinkStatustextHandler handler;
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mavlink_statustext_t statustext1 {};
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mavlink_statustext_t statustext2 {};
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statustext1.severity = some_severity;
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statustext2.severity = some_severity;
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statustext1.id = 1;
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statustext2.id = 1;
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statustext1.chunk_seq = 0;
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statustext2.chunk_seq = 1;
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memset(statustext1.text, 'a', 50);
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memset(statustext2.text, 'b', 25);
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// The first message is just stored, we don't have to publish yet.
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EXPECT_FALSE(handler.should_publish_previous(statustext1));
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EXPECT_FALSE(handler.should_publish_current(statustext1, some_time));
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// Now we should be able to publish.
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EXPECT_FALSE(handler.should_publish_previous(statustext2));
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EXPECT_TRUE(handler.should_publish_current(statustext2, some_other_time));
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// Check overall text length.
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EXPECT_EQ(strlen(handler.log_message().text), 75);
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// And a few samples.
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EXPECT_EQ(handler.log_message().text[30], 'a');
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EXPECT_EQ(handler.log_message().text[60], 'b');
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EXPECT_EQ(handler.log_message().severity, some_severity);
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EXPECT_EQ(handler.log_message().timestamp, some_time);
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}
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TEST(MavlinkStatustextHandler, TooMany)
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{
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// If we receive too many, we need to cap it.
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MavlinkStatustextHandler handler;
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mavlink_statustext_t statustext1 {};
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mavlink_statustext_t statustext2 {};
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mavlink_statustext_t statustext3 {};
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statustext1.id = 1;
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statustext2.id = 1;
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statustext3.id = 1;
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statustext1.chunk_seq = 0;
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statustext2.chunk_seq = 1;
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statustext3.chunk_seq = 2;
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memset(statustext1.text, 'a', 50);
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memset(statustext2.text, 'b', 50);
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memset(statustext3.text, 'c', 49);
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// The first messages are just stored, we don't have to publish yet.
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EXPECT_FALSE(handler.should_publish_previous(statustext1));
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EXPECT_FALSE(handler.should_publish_current(statustext1, some_time));
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EXPECT_FALSE(handler.should_publish_previous(statustext2));
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EXPECT_FALSE(handler.should_publish_current(statustext2, some_time + 1));
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EXPECT_FALSE(handler.should_publish_previous(statustext3));
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EXPECT_TRUE(handler.should_publish_current(statustext3, some_time + 2));
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EXPECT_EQ(strlen(handler.log_message().text), sizeof(log_message_s::text) - 1);
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}
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TEST(MavlinkStatustextHandler, LastMissing)
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{
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// Here we fail to send the last multi-chunk but we still want to
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// publish the incomplete message.
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MavlinkStatustextHandler handler;
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mavlink_statustext_t statustext1 {};
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statustext1.id = 1;
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statustext1.chunk_seq = 0;
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memset(statustext1.text, 'a', 50);
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// The first message is just stored, we don't have to publish yet.
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EXPECT_FALSE(handler.should_publish_previous(statustext1));
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EXPECT_FALSE(handler.should_publish_current(statustext1, some_time));
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// Now we send a single and we expect the previous one to be published.
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mavlink_statustext_t statustext2 {};
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memset(statustext2.text, 'b', 10);
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statustext2.id = 0;
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// We expect 50 a and then a missing bracket.
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EXPECT_TRUE(handler.should_publish_previous(statustext2));
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EXPECT_EQ(strlen(handler.log_message().text), 50 + 15);
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EXPECT_EQ(handler.log_message().text[25], 'a');
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EXPECT_TRUE(handler.should_publish_previous(statustext2));
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EXPECT_TRUE(handler.should_publish_current(statustext2, some_other_time));
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// And we expect the single message to get through as well.
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EXPECT_EQ(strlen(handler.log_message().text), 10);
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EXPECT_EQ(handler.log_message().text[5], 'b');
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}
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TEST(MavlinkStatustextHandler, FirstMissing)
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{
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// Here we fail to send the first multi-chunk but we still want to
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// publish the incomplete message.
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MavlinkStatustextHandler handler;
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mavlink_statustext_t statustext2 {};
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statustext2.id = 1;
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statustext2.chunk_seq = 1;
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// By chosing 35 we might exactly trigger an overflow if we don't pay attention.
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memset(statustext2.text, 'b', 35);
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// The first message is just stored, we don't have to publish yet.
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EXPECT_FALSE(handler.should_publish_previous(statustext2));
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EXPECT_TRUE(handler.should_publish_current(statustext2, some_time));
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// We expect a missing bracket and our 10 b.
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EXPECT_EQ(strlen(handler.log_message().text), 15 + 35);
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EXPECT_EQ(handler.log_message().text[20], 'b');
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}
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TEST(MavlinkStatustextHandler, MiddleMissing)
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{
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// This time one message in the middle goes missing.
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MavlinkStatustextHandler handler;
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mavlink_statustext_t statustext1 {};
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mavlink_statustext_t statustext3 {};
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statustext1.id = 1;
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statustext3.id = 1;
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statustext1.chunk_seq = 0;
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statustext3.chunk_seq = 2;
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memset(statustext1.text, 'a', 50);
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memset(statustext3.text, 'c', 25);
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// The first messages are just stored, we don't have to publish yet.
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EXPECT_FALSE(handler.should_publish_previous(statustext1));
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EXPECT_FALSE(handler.should_publish_current(statustext1, some_time));
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EXPECT_FALSE(handler.should_publish_previous(statustext3));
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EXPECT_TRUE(handler.should_publish_current(statustext3, some_time + 2));
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// The two texts plus the missing bracket.
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EXPECT_EQ(strlen(handler.log_message().text), 50 + 25 + 15);
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EXPECT_EQ(handler.log_message().text[20], 'a');
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EXPECT_EQ(handler.log_message().text[70], 'c');
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}
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